int32 controller_type
int32 user_mode
int32 gait
int32 swing_traj_type
int32 ground_model
float32 vx
float32 vy
float32 wz
float32 roll
float32 pitch
float32 yaw
float32 body_tilt_x
float32 body_tilt_y
float32 body_height
float32 foot_height
float32 swing_duration
float32 friction
float32 scale_x
float32 scale_y
int32 free_leg
float32 swaying_duration
float32 jump_distance
float32 jump_angle
float32 decelerate_time
float32 decelerate_duration
float32 velocity_decay
int32 collision_protect
int32 action_0
int32 action_1
int32 action_2
int32 action_3